version: 66.06
glider: 146
mission: 8
dive: 246
start: 3 8 113 17 28 32
data:
$ID,146
$MISSION,8
$DIVE,246
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,960
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,300
$T_MISSION,620
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0276999
$MASS,52423
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2225
$TGT_DEFAULT_LON,-8113.5
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-312274.38
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3260
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,2210
$C_ROLL_CLIMB,2370
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,79
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3190
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,94
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.560358
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,10
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043571657
$SEABIRD_T_H,0.00063262874
$SEABIRD_T_I,2.5277763e-05
$SEABIRD_T_J,2.8683949e-06
$SEABIRD_C_G,-9.9054022
$SEABIRD_C_H,1.142597
$SEABIRD_C_I,-0.0022074829
$SEABIRD_C_J,0.00025491611
$GPS1,171229,1924.852,-8107.910,37,1.5,37,-3.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-73.8
$GPS2,172737,1924.819,-8107.884,10,1.9,10,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.257,0.040
$KALMAN_X,-6537.1,-786.7,-53.5,6550.0,536.8
$KALMAN_Y,9757.8,-54.6,53.1,-7433.6,211.0
$MHEAD_RNG_PITCHd_Wd,282.7,18122,-17.5,-10.000
$D_GRID,900
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.90,0.000,2,0.000,0.000,460,2162,3510,0,0,0,0,0,0
$GC,95,-1.27,-146.0,3.7,-4.8,9,120,13.75,2.53,-5.20,0.000,4,0.166,0.036,2978,3751,3784,0,0,0,0,0,0
$GC,295,-1.14,-146.0,44.0,-15.8,33,300,0.15,2.38,0.00,0.000,6,0.104,0.022,3011,2236,3785,0,0,0,0,0,0
$GC,565,-0.99,-146.0,82.2,-14.7,57,571,0.15,2.65,0.00,0.000,4,0.107,0.044,3044,633,3785,0,0,0,0,0,0
$GC,632,-0.95,-146.0,92.4,-12.4,62,636,0.00,2.35,0.00,0.000,6,0.000,0.016,3044,2184,3785,0,0,0,0,0,0
$GC,897,-0.90,-146.0,124.5,-12.0,86,901,0.00,2.50,0.00,0.000,4,0.000,0.030,3044,3768,3785,0,0,0,0,0,0
$GC,932,-0.90,-146.0,129.2,-11.9,88,942,0.00,2.47,0.00,0.000,6,0.000,0.021,3044,2198,3786,0,0,0,0,0,0
$GC,1195,-0.90,-146.0,153.1,-8.4,113,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2198,3786,0,0,0,0,0,0
$GC,1453,-0.96,-146.0,173.4,-7.7,137,1457,0.00,2.55,0.00,0.000,4,0.000,0.048,3044,631,3786,0,0,0,0,0,0
$GC,1485,-1.02,-146.0,176.0,-8.2,139,1489,0.00,2.40,0.00,0.000,6,0.000,0.016,3044,2203,3786,0,0,0,0,0,0
$GC,1754,-1.11,-146.0,195.4,-6.3,163,1759,0.10,2.50,0.00,0.000,4,0.077,0.039,2992,3768,3786,0,0,0,0,0,0
$GC,1806,-1.11,-146.0,200.5,-9.4,167,1812,0.12,2.45,0.00,0.000,6,0.092,0.020,3023,2191,3786,0,0,0,0,0,0
$GC,2081,-1.15,-146.0,220.4,-7.2,174,2086,0.00,2.53,0.00,0.000,4,0.000,0.054,3023,638,3786,0,0,0,0,0,0
$GC,2109,-1.21,-146.0,222.5,-7.3,174,2114,0.12,2.40,0.00,0.000,6,0.065,0.025,2967,2198,3786,0,0,0,0,0,0
$GC,2360,-1.16,-146.0,246.0,-9.7,180,2362,0.17,0.00,0.00,0.000,6,0.088,0.000,3007,2199,3786,0,0,0,0,0,0
$GC,2605,-1.16,-146.0,264.8,-7.7,186,2610,0.00,2.55,0.00,0.000,4,0.000,0.055,3007,644,3786,0,0,0,0,0,0
$GC,2633,-1.16,-146.0,267.2,-7.8,186,2637,0.00,2.38,0.00,0.000,6,0.000,0.021,3007,2197,3786,0,0,0,0,0,0
$GC,2888,-1.20,-146.0,286.6,-7.6,193,2893,0.00,2.53,0.00,0.000,4,0.000,0.044,3007,3772,3785,0,0,0,0,0,0
$GC,2924,-1.25,-146.0,289.3,-8.2,193,2930,0.00,2.47,0.00,0.000,6,0.000,0.025,3007,2196,3785,0,0,0,0,0,0
$GC,3175,-1.30,-146.0,308.2,-7.5,200,3177,0.12,0.00,0.00,0.000,6,0.067,0.000,2954,2196,3785,0,0,0,0,0,0
$GC,3418,-1.24,-146.0,331.7,-9.7,206,3420,0.17,0.00,0.00,0.000,6,0.087,0.000,2994,2196,3783,0,0,0,0,0,0
$GC,3664,-1.24,-146.0,351.4,-8.0,212,3665,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2196,3783,0,0,0,0,0,0
$GC,3905,-1.24,-146.0,369.2,-7.2,218,3906,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2196,3782,0,0,0,0,0,0
$GC,4149,-1.24,-146.0,388.5,-8.1,224,4153,0.00,2.58,0.00,0.000,4,0.000,0.043,2994,3768,3781,0,0,0,0,0,0
$GC,4178,-1.24,-146.0,390.9,-8.0,224,4183,0.00,2.47,0.00,0.000,6,0.000,0.030,2994,2206,3781,0,0,0,0,0,0
$GC,4428,-1.24,-146.0,411.2,-8.0,230,4433,0.00,2.72,0.00,0.000,4,0.000,0.073,2994,630,3780,0,0,0,0,0,0
$GC,4467,-1.24,-146.0,414.6,-8.8,231,4472,0.00,2.45,0.00,0.000,6,0.000,0.035,2994,2180,3780,0,0,0,0,0,0
$GC,4754,-1.24,-146.0,437.0,-7.8,238,4758,0.00,2.67,0.00,0.000,4,0.000,0.060,2994,3787,3779,0,0,0,0,0,0
$GC,4793,-1.28,-146.0,440.4,-7.8,239,4798,0.00,2.55,0.00,0.000,6,0.000,0.039,2994,2203,3779,0,0,0,0,0,0
$GC,5077,-1.28,-146.0,462.9,-8.0,246,5078,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2203,3777,0,0,0,0,0,0
$GC,5323,-1.32,-146.0,481.6,-7.6,252,5324,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2203,3776,0,0,0,0,0,0
$GC,5564,-1.35,-146.0,498.8,-6.9,258,5566,0.12,0.00,0.00,0.000,6,0.067,0.000,2946,2203,3775,0,0,0,0,0,0
$GC,5808,-1.30,-146.0,520.2,-9.0,264,5813,0.15,2.72,0.00,0.000,4,0.095,0.067,2980,3784,3774,0,0,0,0,0,0
$GC,5838,-1.30,-146.0,522.5,-8.0,264,5842,0.00,2.62,0.00,0.000,6,0.000,0.053,2980,2214,3774,0,0,0,0,0,0
$GC,6088,-1.30,-146.0,540.6,-7.1,270,6093,0.00,2.92,0.00,0.000,4,0.000,0.109,2980,626,3773,0,0,0,0,0,0
$GC,6120,-1.30,-146.0,543.1,-7.8,270,6126,0.00,2.58,0.00,0.000,6,0.000,0.048,2979,2200,3772,0,0,0,0,0,0
$GC,6373,-1.30,-146.0,561.6,-7.6,277,6377,0.00,2.80,0.00,0.000,4,0.000,0.089,2980,3791,3771,0,0,0,0,0,0
$GC,6400,-1.30,-146.0,564.2,-8.3,277,6404,0.00,2.62,0.00,0.000,6,0.000,0.051,2980,2212,3771,0,0,0,0,0,0
$GC,6651,-1.30,-146.0,584.6,-8.2,283,6656,0.00,3.03,0.00,0.000,4,0.000,0.119,2979,619,3770,0,0,0,0,0,0
$GC,6675,-1.30,-146.0,586.7,-8.5,283,6680,0.00,2.65,0.00,0.000,6,0.000,0.056,2979,2207,3770,0,0,0,0,0,0
$GC,6930,-1.30,-146.0,608.4,-8.5,290,6935,0.00,2.88,0.00,0.000,4,0.000,0.095,2980,3797,3769,0,0,0,0,0,0
$GC,6951,-1.30,-146.0,610.3,-8.8,290,6956,0.00,2.70,0.00,0.000,6,0.000,0.062,2980,2209,3769,0,0,0,0,0,0
$GC,7209,-1.30,-146.0,631.3,-8.2,297,7213,0.00,2.95,0.00,0.000,4,0.000,0.119,2980,626,3767,0,0,0,0,0,0
$GC,7236,-1.30,-146.0,633.9,-9.2,297,7240,0.00,2.67,0.00,0.000,6,0.000,0.061,2980,2206,3767,0,0,0,0,0,0
$GC,7486,-1.30,-146.0,654.2,-8.1,303,7490,0.00,2.90,0.00,0.000,4,0.000,0.100,2979,3793,3766,0,0,0,0,0,0
$GC,7514,-1.30,-146.0,656.6,-7.8,303,7519,0.00,2.80,0.00,0.000,6,0.000,0.086,2980,2213,3765,0,0,0,0,0,0
$GC,7766,-1.30,-146.0,675.3,-7.3,309,7767,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2213,3764,0,0,0,0,0,0
$GC,8008,-1.30,-146.0,693.8,-7.6,315,8009,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2212,3764,0,0,0,0,0,0
$GC,8252,-1.30,-146.0,711.3,-7.1,321,8253,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2213,3762,0,0,0,0,0,0
$GC,8498,-1.30,-146.0,729.2,-7.3,327,8499,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2213,3761,0,0,0,0,0,0
$GC,8739,-1.30,-146.0,747.8,-7.8,333,8744,0.00,3.08,0.00,0.000,4,0.000,0.127,2980,3804,3759,0,0,0,0,0,0
$GC,8766,-1.30,-146.0,750.0,-8.5,333,8771,0.00,2.78,0.00,0.000,6,0.000,0.075,2980,2215,3759,0,0,0,0,0,0
$GC,9019,-1.30,-146.0,769.5,-7.7,339,9020,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2215,3758,0,0,0,0,0,0
$GC,9260,-1.30,-146.0,788.2,-7.7,345,9264,0.00,2.83,0.00,0.000,4,0.000,0.087,2980,3802,3757,0,0,0,0,0,0
$GC,9300,-1.34,-146.0,791.5,-8.6,346,9304,0.00,2.75,0.00,0.000,6,0.000,0.067,2980,2221,3757,0,0,0,0,0,0
$GC,9585,-1.34,-146.0,812.4,-7.2,353,9590,0.00,3.05,0.00,0.000,4,0.000,0.122,2979,624,3755,0,0,0,0,0,0
$GC,9606,-1.34,-146.0,814.2,-7.1,353,9611,0.00,2.72,0.00,0.000,6,0.000,0.064,2979,2219,3755,0,0,0,0,0,0
$GC,9861,-1.34,-146.0,832.7,-7.2,360,9866,0.00,2.85,0.00,0.000,4,0.000,0.097,2980,3804,3754,0,0,0,0,0,0
$GC,9891,-1.38,-146.0,834.8,-7.5,360,9896,0.00,2.72,0.00,0.000,6,0.000,0.066,2980,2221,3754,0,0,0,0,0,0
$GC,10142,-1.42,-146.0,852.8,-7.0,366,10143,0.12,0.00,0.00,0.000,6,0.069,0.000,2934,2221,3753,0,0,0,0,0,0
$GC,10385,-1.36,-146.0,874.5,-9.2,372,10390,0.12,2.80,0.00,0.000,4,0.105,0.080,2961,3806,3751,0,0,0,0,0,0
$GC,10409,-1.36,-146.0,876.6,-9.0,372,10414,0.00,2.67,0.00,0.000,6,0.000,0.066,2961,2234,3751,0,0,0,0,0,0
$GC,10664,-1.36,-146.0,897.5,-8.0,379,10665,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2234,3750,0,0,0,0,0,0
$STATE,10702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10702,begin apogee
$GC,10708,-0.31,0.0,900.7,8.0,380,10830,1.00,0.00,118.32,1.216,6,0.071,0.000,3189,2389,3190,0,0,0,0,0,0
$STATE,10831,end apogee,CONTROL_FINISHED_OK
$STATE,10831,begin climb
$GC,10836,1.27,146.0,904.1,0.0,383,10971,1.42,2.80,127.12,1.185,4,0.035,0.077,3542,3930,2594,0,0,0,0,0,0
$GC,11054,1.15,146.0,890.7,11.7,388,11059,0.15,2.70,0.00,0.000,6,0.115,0.058,3512,2366,2588,0,0,0,0,0,0
$GC,11332,1.12,158.4,863.6,9.4,395,11351,0.00,2.78,11.38,1.029,4,0.000,0.060,3512,3936,2543,0,0,0,0,0,0
$GC,11363,1.07,168.0,860.4,9.6,395,11378,0.00,2.67,10.38,1.003,6,0.000,0.048,3512,2369,2504,0,0,0,0,0,0
$GC,11659,1.07,171.0,831.1,9.9,403,11664,0.00,2.70,0.00,0.000,4,0.000,0.062,3512,3937,2498,0,0,0,0,0,0
$GC,11692,1.01,171.0,827.2,11.5,403,11698,0.15,2.62,0.00,0.000,6,0.120,0.047,3482,2376,2498,0,0,0,0,0,0
$GC,11944,1.05,200.2,805.5,8.7,410,11979,0.00,3.17,29.62,1.110,4,0.000,0.124,3482,780,2373,0,0,0,0,0,0
$GC,12002,1.06,207.3,799.8,9.7,410,12016,0.00,2.67,8.27,0.948,6,0.000,0.045,3482,2368,2343,0,0,0,0,0,0
$GC,12269,1.10,212.6,774.0,9.8,417,12277,0.00,0.00,5.68,0.842,6,0.000,0.000,3482,2369,2323,0,0,0,0,0,0
$GC,12511,1.15,212.6,749.4,10.2,423,12516,0.12,2.75,0.00,0.000,4,0.074,0.068,3519,3934,2321,0,0,0,0,0,0
$GC,12532,1.15,212.6,746.7,10.9,423,12537,0.00,2.65,0.00,0.000,6,0.000,0.048,3519,2364,2320,0,0,0,0,0,0
$GC,12790,1.15,212.6,718.0,11.2,430,12795,0.00,2.67,0.00,0.000,4,0.000,0.054,3519,3932,2320,0,0,0,0,0,0
$GC,12817,1.11,212.6,714.4,12.0,430,12822,0.00,2.62,0.00,0.000,6,0.000,0.044,3519,2377,2319,0,0,0,0,0,0
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$STATE,19351,end climb,SURFACE_DEPTH_REACHED
$STATE,19351,begin surface coast
$FINISH,1.1,1.010084
$STATE,19407,end surface coast,CONTROL_FINISHED_OK
$STATE,19407,begin surface
$SM_CCo,19429,38.85,0.491,0,0,1763,350.04
$SM_GC,1.86,0.00,0.00,38.85,0.000,0.000,0.491,465,2172,1763,-12.86,-1.07,350.04
$IRIDIUM_FIX,1916.08,-8107.94,020602,171705
$TT8_MAMPS,0.026078
$HUMID,58.38
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.20
$XPDR_PINGS,75
$24V_AH,23.3,34.802
$10V_AH,10.3,30.610
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,31.025,227.500,393.025,38.850,0.000,90.834,110.980,403.217,18.750,0.000,12.264,1556.814,14826.350,563.887,2316.597,1106.951,33.371,1575.744,0.000,2311.676,0.000,0.536,0.000
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$SENSOR_SECS,495.796,343.134,438.011,567.905,1080.827,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355848
$DATA_FILE_SIZE,57249,732
$CAP_FILE_SIZE,185452,0
$CFSIZE,260165632,111259648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080313,225423,1925.010,-8111.120,38,1.1,38,-3.8